{
  "cells": [
    {
      "cell_type": "markdown",
      "source": [
        "[<img align=\"left\" src=\"https://colab.research.google.com/assets/colab-badge.svg\">](https://colab.research.google.com/github/sail-sg/envpool/blob/main/demo/envpool_demo_ant.ipynb)"
      ],
      "metadata": {
        "id": "9jbtt6I1SyrM"
      }
    },
    {
      "cell_type": "code",
      "source": [
        "# OS: Ubuntu 18.04.4 LTS x86_64\n",
        "# Kernel: 4.18.0-15-generic\n",
        "# CPU: Intel(R) Core(TM) i9-10920X CPU (24) @ 3.50GHz\n",
        "# GPU: NVIDIA GeForce RTX 2080 Ti\n",
        "!sudo apt-get install -y \\\n",
        "    libgl1-mesa-dev \\\n",
        "    libgl1-mesa-glx \\\n",
        "    libglew-dev \\\n",
        "    libosmesa6-dev \\\n",
        "    software-properties-common\n",
        "\n",
        "!sudo apt-get install -y patchelf\n",
        "!pip install git+https://github.com/Denys88/rl_games\n",
        "!pip install envpool\n",
        "!pip install gym\n",
        "\n",
        "!pip install free-mujoco-py\n",
        "!sudo apt-get install -y xvfb python-opengl ffmpeg > /dev/null 2>&1\n",
        "!pip install imageio==2.4.1\n",
        "!pip install -U colabgymrender"
      ],
      "metadata": {
        "id": "mmKGtYq6N7kz"
      },
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
        "id": "q7w9yaqQ0Hb_"
      },
      "outputs": [],
      "source": [
        "from rl_games.torch_runner import Runner"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
        "id": "yAkZ1aqe5ur2"
      },
      "outputs": [],
      "source": [
        "## ant_envpool config:\n",
        "ant_config = {'params': {'seed': 5, \n",
        "                         'algo': {'name': 'a2c_continuous'}, \n",
        "                         'model': {'name': 'continuous_a2c_logstd'}, \n",
        "                         'network': {'name': 'actor_critic', \n",
        "                                    'separate': False, \n",
        "                                    'space': {'continuous': {'mu_activation': 'None', \n",
        "                                                             'sigma_activation': 'None', \n",
        "                                                             'mu_init': {'name': 'default'}, \n",
        "                                                             'sigma_init': {'name': 'const_initializer', 'val': 0}, \n",
        "                                                             'fixed_sigma': True}}, \n",
        "                                    'mlp': {'units': [256, 128, 64], 'activation': 'elu', 'initializer': {'name': 'default'}}}, \n",
        "                         'config': {'name': 'Ant-v4_envpool', \n",
        "                                    'env_name': 'envpool', \n",
        "                                    'score_to_win': 20000, \n",
        "                                    'normalize_input': True, \n",
        "                                    'normalize_value': True, \n",
        "                                    'value_bootstrap': True, \n",
        "                                    'normalize_advantage': True, \n",
        "                                    'reward_shaper': {'scale_value': 0.1}, \n",
        "                                    'gamma': 0.99, \n",
        "                                    'tau': 0.95, \n",
        "                                    'learning_rate': '3e-4', \n",
        "                                    'lr_schedule': 'adaptive', \n",
        "                                    'kl_threshold': 0.008, \n",
        "                                    'grad_norm': 1.0, \n",
        "                                    'entropy_coef': 0.0, \n",
        "                                    'truncate_grads': True, \n",
        "                                    'e_clip': 0.2, \n",
        "                                    'clip_value': True, \n",
        "                                    'use_smooth_clamp': True, \n",
        "                                    'bound_loss_type': 'regularisation', \n",
        "                                    'bounds_loss_coef': 0.0, \n",
        "                                    'max_epochs': 2000, \n",
        "                                    'num_actors': 64, \n",
        "                                    'horizon_length': 64, \n",
        "                                    'minibatch_size': 2048, \n",
        "                                    'mini_epochs': 4, \n",
        "                                    'critic_coef': 2, \n",
        "                                    'env_config': {'env_name': 'Ant-v4', 'seed': 5}, \n",
        "                                    'player': {'render': False}}}}"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
        "id": "dX0TgQa4DpYo",
        "colab": {
          "base_uri": "https://localhost:8080/"
        },
        "outputId": "8dbd42eb-b9a7-4e19-93df-fdf314644518"
      },
      "outputs": [
        {
          "output_type": "stream",
          "name": "stdout",
          "text": [
            "self.seed = 5\n",
            "Started to train\n",
            "current training device: cuda:0\n",
            "build mlp: 27\n",
            "RunningMeanStd:  (1,)\n",
            "RunningMeanStd:  (27,)\n",
            "fps step: 16584 fps step and policy inference: 9207 fps total: 7682 epoch: 1/2000\n",
            "fps step: 17417 fps step and policy inference: 11287 fps total: 9875 epoch: 2/2000\n",
            "fps step: 17829 fps step and policy inference: 11602 fps total: 10138 epoch: 3/2000\n",
            "fps step: 17163 fps step and policy inference: 10351 fps total: 8915 epoch: 4/2000\n",
            "fps step: 14484 fps step and policy inference: 7770 fps total: 6902 epoch: 5/2000\n",
            "fps step: 16067 fps step and policy inference: 9708 fps total: 8599 epoch: 6/2000\n",
            "fps step: 16852 fps step and policy inference: 10780 fps total: 9566 epoch: 7/2000\n",
            "fps step: 17624 fps step and policy inference: 12090 fps total: 10535 epoch: 8/2000\n",
            "fps step: 14597 fps step and policy inference: 8048 fps total: 7216 epoch: 9/2000\n",
            "fps step: 17085 fps step and policy inference: 11054 fps total: 9701 epoch: 10/2000\n",
            "fps step: 17730 fps step and policy inference: 12098 fps total: 10302 epoch: 11/2000\n",
            "fps step: 17610 fps step and policy inference: 12318 fps total: 10725 epoch: 12/2000\n",
            "fps step: 16700 fps step and policy inference: 10695 fps total: 9351 epoch: 13/2000\n",
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            "fps step: 16427 fps step and policy inference: 10642 fps total: 9342 epoch: 100/2000\n",
            "saving next best rewards:  [126.037155]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 14944 fps step and policy inference: 8655 fps total: 7618 epoch: 101/2000\n",
            "saving next best rewards:  [128.81575]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [137.70943]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15011 fps step and policy inference: 8732 fps total: 7639 epoch: 105/2000\n",
            "saving next best rewards:  [159.41953]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 16488 fps step and policy inference: 10629 fps total: 9430 epoch: 106/2000\n",
            "saving next best rewards:  [162.80412]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 17527 fps step and policy inference: 12248 fps total: 10555 epoch: 107/2000\n",
            "saving next best rewards:  [165.10896]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15376 fps step and policy inference: 9199 fps total: 8053 epoch: 108/2000\n",
            "saving next best rewards:  [166.06831]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [170.75818]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15490 fps step and policy inference: 9236 fps total: 8040 epoch: 110/2000\n",
            "saving next best rewards:  [177.24358]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 14919 fps step and policy inference: 8583 fps total: 7521 epoch: 111/2000\n",
            "saving next best rewards:  [184.79018]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 16685 fps step and policy inference: 10767 fps total: 9437 epoch: 112/2000\n",
            "saving next best rewards:  [202.53056]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15225 fps step and policy inference: 9203 fps total: 8136 epoch: 113/2000\n",
            "saving next best rewards:  [205.42586]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [218.95233]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [249.55316]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [288.6324]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [291.47186]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [369.96533]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [395.28085]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [406.48682]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [426.57855]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [451.64807]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15814 fps step and policy inference: 9655 fps total: 8467 epoch: 135/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 14774 fps step and policy inference: 8481 fps total: 7520 epoch: 136/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15223 fps step and policy inference: 8753 fps total: 7701 epoch: 137/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 17007 fps step and policy inference: 10744 fps total: 9148 epoch: 138/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 17553 fps step and policy inference: 11829 fps total: 10296 epoch: 141/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 16621 fps step and policy inference: 10555 fps total: 9030 epoch: 143/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [1911.8248]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 16033 fps step and policy inference: 10002 fps total: 8938 epoch: 265/2000\n",
            "saving next best rewards:  [1937.9648]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15552 fps step and policy inference: 9325 fps total: 8343 epoch: 266/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 14958 fps step and policy inference: 8688 fps total: 7575 epoch: 269/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 14739 fps step and policy inference: 8434 fps total: 7430 epoch: 270/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15148 fps step and policy inference: 9008 fps total: 8121 epoch: 275/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 16802 fps step and policy inference: 10791 fps total: 9529 epoch: 276/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15678 fps step and policy inference: 9384 fps total: 8377 epoch: 278/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 16691 fps step and policy inference: 10648 fps total: 9303 epoch: 290/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 17248 fps step and policy inference: 11546 fps total: 10061 epoch: 393/2000\n",
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            "saving next best rewards:  [3557.403]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15093 fps step and policy inference: 8888 fps total: 7992 epoch: 403/2000\n",
            "saving next best rewards:  [3576.7336]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15960 fps step and policy inference: 9893 fps total: 8803 epoch: 408/2000\n",
            "saving next best rewards:  [3624.8218]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [3653.9224]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15130 fps step and policy inference: 8830 fps total: 7863 epoch: 427/2000\n",
            "saving next best rewards:  [3659.1033]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 16090 fps step and policy inference: 9841 fps total: 8556 epoch: 428/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15620 fps step and policy inference: 9335 fps total: 8235 epoch: 429/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15026 fps step and policy inference: 9058 fps total: 8105 epoch: 431/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15398 fps step and policy inference: 9060 fps total: 7939 epoch: 437/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15440 fps step and policy inference: 9217 fps total: 8286 epoch: 438/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [4580.79]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [4743.4717]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [5076.8877]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15784 fps step and policy inference: 9240 fps total: 8020 epoch: 793/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 14792 fps step and policy inference: 8340 fps total: 7396 epoch: 794/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15478 fps step and policy inference: 8936 fps total: 7861 epoch: 802/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15192 fps step and policy inference: 8602 fps total: 7552 epoch: 803/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 16318 fps step and policy inference: 10025 fps total: 8806 epoch: 804/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15824 fps step and policy inference: 9709 fps total: 8693 epoch: 807/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 17829 fps step and policy inference: 12206 fps total: 11276 epoch: 808/2000\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [5297.269]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [5376.0947]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [5705.8647]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [5725.32]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [5743.813]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [5753.348]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [5783.9854]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 17205 fps step and policy inference: 11103 fps total: 9683 epoch: 1389/2000\n",
            "saving next best rewards:  [5814.4624]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15542 fps step and policy inference: 8987 fps total: 7881 epoch: 1390/2000\n",
            "saving next best rewards:  [5818.9424]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15636 fps step and policy inference: 9107 fps total: 7725 epoch: 1391/2000\n",
            "saving next best rewards:  [5824.4478]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 17768 fps step and policy inference: 11817 fps total: 10040 epoch: 1392/2000\n",
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            "saving next best rewards:  [5852.1675]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 17211 fps step and policy inference: 11185 fps total: 9877 epoch: 1395/2000\n",
            "saving next best rewards:  [5861.4224]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 18917 fps step and policy inference: 13576 fps total: 11658 epoch: 1396/2000\n",
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            "saving next best rewards:  [5863.5913]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 16073 fps step and policy inference: 9702 fps total: 8437 epoch: 1401/2000\n",
            "saving next best rewards:  [5885.0923]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 18630 fps step and policy inference: 13297 fps total: 11414 epoch: 1402/2000\n",
            "saving next best rewards:  [5906.5146]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15031 fps step and policy inference: 8465 fps total: 7452 epoch: 1403/2000\n",
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            "saving next best rewards:  [5917.3955]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15734 fps step and policy inference: 9188 fps total: 7983 epoch: 1407/2000\n",
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            "saving next best rewards:  [5934.855]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 17634 fps step and policy inference: 11901 fps total: 10072 epoch: 1409/2000\n",
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            "saving next best rewards:  [5935.454]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [5946.7793]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15113 fps step and policy inference: 8624 fps total: 7584 epoch: 1636/2000\n",
            "saving next best rewards:  [5959.422]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 15749 fps step and policy inference: 9185 fps total: 7884 epoch: 1637/2000\n",
            "saving next best rewards:  [5962.838]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
            "fps step: 18029 fps step and policy inference: 11868 fps total: 9971 epoch: 1638/2000\n",
            "saving next best rewards:  [5974.355]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "saving next best rewards:  [5978.291]\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/Ant-v4_envpool.pth'\n",
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            "fps step: 15490 fps step and policy inference: 9021 fps total: 7845 epoch: 1998/2000\n",
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            "fps step: 15440 fps step and policy inference: 8908 fps total: 7836 epoch: 2000/2000\n",
            "=> saving checkpoint 'runs/Ant-v4_envpool_23-08-31-39/nn/last_Ant-v4_envpoolep2000rew[5904.908].pth'\n",
            "MAX EPOCHS NUM!\n"
          ]
        }
      ],
      "source": [
        "runner = Runner()\n",
        "runner.load(ant_config)\n",
        "runner.run({\n",
        "    'train': True,\n",
        "})"
      ]
    }
  ],
  "metadata": {
    "colab": {
      "provenance": [],
      "collapsed_sections": []
    },
    "kernelspec": {
      "display_name": "Python 3",
      "name": "python3"
    },
    "language_info": {
      "name": "python"
    },
    "accelerator": "GPU",
    "gpuClass": "standard"
  },
  "nbformat": 4,
  "nbformat_minor": 0
}